#ifndef __PID_H__
#define __PID_H__


typedef struct 
{
	float Kp;
	float Ki;
	float Kd;
	float P_out;
	float I_out;
	float D_out;	
	float Out;
}pid_t;

void PID_Init(pid_t *pid,float Kp,float Ki,float Kd);
//void pid_speed(pid_t *pid,float target ,float current );
void PID_Speed_Left(pid_t *pid,float target ,float current );
void PID_Speed_Right(pid_t *pid,float target ,float current);
void PID_DIAL_ANGEL(pid_t *pid,float target ,float current );
void PID_DIAL_SPEED(pid_t *pid,float target ,float current );
void PID_YAW_SPEED(pid_t *pid,float target ,float current );
void PID_YAW_ANGLE(pid_t *pid,float target ,float current );
void PID_PITCH_SPEED(pid_t *pid,float target ,float current );
void PID_PITCH_ANGLE(pid_t *pid,float target ,float current );
#endif


